A box loading device applicable to a strawberry picking machine and a picking machine

Abstract

The present invention discloses a box loading device and a picking machine applicable to a strawberry picking machine, which include a box supply mechanism, a box loading controller, a conveying mechanism, and a lifting mechanism. The box supply mechanism, the box loading controller, and the lifting mechanism are sequentially arranged along the conveying direction of the conveying mechanism. The box supply mechanism is arranged at the input end of the conveying mechanism and is used for storing packaging boxes and supplying the packaging boxes to the conveying mechanism. The conveying mechanism is used for pushing out the bottommost packaging box of the box supply mechanism and pushing it along the movement direction of the conveyor belt. The box loading controller is used for receiving the strawberries picked by the picking hand and guiding the strawberries into the packaging box running below its strawberry outlet. The lifting mechanism is arranged below the outside of the outlet end of the conveying mechanism and is used for the temporary storage and transfer after the packaging box is loaded. This device directly places the strawberries picked by the picking hand into the transportation and sales packaging box, so that people do not contact the strawberries, reducing the number of strawberry transfers and the sorting workload.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery, and particularly relates to a box loading device and a picking machine applicable to a strawberry picking machine. Background Art

[0002] With the continuous increase of the agricultural labor force gap and the sharp rise of agricultural labor costs in China, the development of agricultural picking equipment has become an important way to solve the shortage of agricultural labor force, and is also an important technical means to realize the large-scale and modernization of agriculture. The strawberry picking machine is an important platform for realizing the automatic picking of strawberries. However, the design focus of existing strawberry picking machines mostly concentrates on aspects such as the recognition system, the picking hand of the end effector, and the carrying platform, and less attention is paid to the design of the collection device after strawberry picking. After being picked by the picking hand, strawberries are temporarily stacked in the collection container on the picking machine. After the strawberries in the collection container reach a certain quantity, the collection container is taken down, and the grower transfers the strawberries into the turnover box to prepare for the next-level transportation and sales. In the above strawberry collection method, the strawberries are stacked in the collection container, and the strawberries are stacked layer by layer, and the strawberries in the lower layer are easily broken; the height at which the picking hand places the strawberries should be as consistent as possible. As the stacking height increases, the stroke of the picking hand needs to be controlled and adjusted, and the complexity of control increases; the number of strawberry transfers is relatively large during the whole collection process, increasing the probability of strawberry damage, and the transfer process requires personnel to participate in contact, with a large labor intensity and low efficiency. Summary of the Invention

[0003] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art, and provide a box loading device and a picking machine applicable to a strawberry picking machine. The box loading device of this solution can be arranged on the strawberry picking machine and used as a part of the picking machine to directly place the strawberries picked by the picking hand into the transportation and sales packaging box, so that personnel do not contact the strawberries, reducing the number of strawberry transfers and the sorting workload.

[0004] One of the purposes of the present invention is achieved through the following technical solutions:

[0005] A box loading device suitable for a strawberry picking machine comprises a box supply mechanism, a box loading controller, a conveying mechanism and a lifting mechanism, wherein the box supply mechanism, the box loading controller and the lifting mechanism are sequentially arranged along the conveying direction of the conveying mechanism, wherein the box supply mechanism and the box loading controller are arranged above the conveying mechanism; the box supply mechanism is arranged at the input end of the conveying mechanism, and is used to store packaging boxes and supply the packaging boxes to the conveying mechanism, the box supply mechanism comprises a packaging box accommodating bin surrounded by four columns, the lower parts of the columns are fixed to the two sides of the conveying mechanism by connecting buckles, and a channel gap for the packaging boxes to be pushed out is formed between the columns and the conveying mechanism; the conveying mechanism is used for pushing the packaging boxes, comprises a conveyor belt, and a plurality of push plates are arranged around the length direction of the outer surface of the conveyor belt, and are used to push out the packaging boxes at the bottom of the box supply mechanism from the channel gap, and push the packaging boxes along the moving direction of the conveyor belt; the box loading controller is used to receive the strawberries picked by the picking hand, and guide the strawberries into the packaging box below its berry outlet; the lifting mechanism is arranged below the outer side of the output end of the conveying mechanism, and is used for temporary storage and transfer after the packaging boxes are loaded.

[0006] As a preferred solution, the box loading controller includes a strawberry collecting table, on which a plurality of sequentially arranged strawberry receiving holes are formed, and the strawberry collecting holes are funnel-shaped and are used to receive and put in the strawberries picked by the picking hands.

[0007] As a preferred embodiment, the box loading controller also includes a guide seat and a control slide; the guide seat is docked and arranged below the strawberry collecting platform, the number of guide seats is consistent with the number of grooves in each row of the packaging box, the guide seats are arranged transversely along the conveyor belt, the guide seat includes a guide tube and a fixed arm, the fixed arm is arranged on the outer wall of the guide tube, the guide tube is made of a hollow cylindrical pipe, which is connected with the strawberry receiving hole, the upper section of the guide tube is formed with a berry storage cavity, and the side wall of the lower section of the guide tube is formed with a semicircular berry outlet with a notch on one side; the control slide includes a slide end plate, a bevel stopper, a slide shaft and a reset spring, the bevel stopper is arranged on one side end face of the slide end plate, and is arranged one-to-one with the berry outlet of the guide tube, the slide shaft is arranged on the other side end face of the slide end plate, the reset spring is passed through the slide shaft, and the bevel stopper is driven by the rocker mechanism to move horizontally to open / close the berry outlet.

[0008] As a preferred solution, the cartoning controller further includes a rocker mechanism for driving and controlling the horizontal reciprocating movement of the slide and a cam mechanism for driving the swing of the rocker mechanism; the rocker mechanism includes a rocker shaft, a roller rocker, a slide rocker and a roller bearing, wherein one end of the roller rocker is fixedly connected to the rocker shaft, and the other end is fixedly connected to the inner ring of the roller bearing. One end of the slide rocker is fixedly connected to the rocker shaft, and the other end is connected to the slide shaft. The roller rocker and the slide rocker are arranged at a certain angle. The outer ring of the roller bearing is located on the movement track of the control cam of the cam mechanism. The control cam drives the rocker mechanism to swing around the rocker shaft by contacting the outer ring of the roller bearing, so as to realize the control of the horizontal reciprocating movement of the slide.

[0009] As a preferred solution, the cartoning controller includes a base frame, and the base frame includes a cam mounting seat, a rocker mounting seat and a guide mounting seat which are integrally arranged. The rocker mounting seat is connected to the cam mounting seat and the guide mounting seat on both sides respectively. The rocker mounting seat is horizontally arranged for mounting the rocker mechanism; the cam mounting seat is vertically arranged on one side of the rocker mounting seat for mounting the cam mechanism; the guide mounting seat is used for mounting the control slide. A guide seat fixing plate is arranged on the opening side of the guide mounting seat, and a plurality of mounting openings are formed in the guide seat fixing plate along the width direction of the conveyor belt. A fixing arm is arranged on the outer side of the guide tube, and the fixing arm is installed in the mounting opening through an adjusting bolt. The relative position of the guide seat and the inclined baffle can be adjusted through the adjusting bolt.

[0010] As a preferred solution, a slide mounting plate for mounting the control slide is arranged on the guide mounting seat. The slide mounting plate is vertically arranged and located inside the guide tube. A slide hole is formed in the slide mounting plate. The slide shaft passes through the slide hole from one side of the slide mounting plate and is connected to the slide rocker on the other side.

[0011] As a preferred solution, guide plates are fixedly arranged on both sides of the conveying mechanism to ensure that the packaging boxes will not deviate when being transported on the conveyor belt. The guide plates include fixed side plates and guide side plates. The fixed side plates are horizontally arranged and installed on the side frames of both sides of the conveyor belt through fasteners. The guide side plates are vertically arranged upward on both sides of the conveyor belt. The upper end surface of the fixed side plate contacts the bottom of the packaging box. Under the push of the push plate, the packaging boxes are sequentially moved in the conveying direction of the conveyor belt on the fixed side plates.

[0012] As a preferred solution, the lifting mechanism includes a bottom plate, a positioning flat belt and a positioning frame. The positioning frame is located directly above the bottom plate. The frame body of the positioning frame is adapted to the outer shape of the packaging box. A frame opening connected to the conveyor belt is formed on one side of the positioning frame close to the conveyor belt. A plurality of positioning flat belts are arranged, and both ends of the positioning flat belt are respectively connected to the positioning frame and the bottom plate to ensure the stability of the stacked packaging boxes.

[0013] As a preferred solution, the lifting mechanism further includes a lifting motor, a lifting lead screw, a guiding optical axis, and a lifting placement table. The lifting motor is disposed at the top end of the lifting lead screw. The lifting lead screw and the guiding optical axis are respectively located at two sides of the frame opening of the positioning frame, and are respectively connected by fixed connecting plates at the upper and lower ends. The lifting placement table is located between the positioning flat belts. Lifting nuts cooperating with the lifting lead screw and guiding sleeves cooperating with the guiding optical axis are respectively disposed at two sides of the lifting placement table. By driving the lifting lead screw to rotate through the lifting motor, the lifting lead screw is enabled to drive the lifting placement table to perform lifting adjustment.

[0014] A second object of the present invention is to provide a strawberry picking machine, including the box loading device described in any one of the above solutions, and the box loading device is installed on the frame body of the picking machine.

[0015] The present invention at least has the following beneficial effects:

[0016] 1. In the present invention, the existing strawberry picking machine is organically combined with a strawberry box loading mechanism, solving the problem of collecting strawberries after picking. In this device, the picked strawberries are directly packaged through the box loading device by the picking hand, without the need to separately set up a collection container and a turnover box, and without the need to separately allocate a group of personnel for box loading (in the prior art, a collection hopper for loading strawberries needs to be set up, and at the same time, a separate group of personnel is required for strawberry box loading). The number of transfers of strawberries is minimized, strawberry stacking is avoided, the probability of strawberry damage is reduced, and indirectly, the control difficulty of the picking hand is reduced. The transfer process basically does not require manual participation, reducing the labor intensity while improving the production efficiency. The box loading device mainly includes four major components: a box supply mechanism, a box loading controller, a conveying mechanism, and a lifting mechanism. Among them, the box supply mechanism is used for storing packaging boxes and supplying the packaging boxes to the conveying mechanism; the conveying mechanism first sends the packaging box to the box loading controller, performs strawberry box loading and then sends it to the lifting mechanism; the lifting mechanism temporarily stores the packaging boxes filled with strawberries, realizing the working scenario of picking and box loading on a single machine.

[0017] 2. In the preferred solution, the box supply mechanism cooperates with the push plate on the conveyor belt to sequentially push out the lowermost packaging box according to the program setting and run it to the lower part of the box loading controller, providing an uninterrupted supply of packaging boxes for the box loading controller. Each time the device pushes the packaging box forward by one column position, the box loading controller will accurately guide the strawberries to the corresponding positions in the box, ensuring the coordinated operation among the conveying mechanism, the box supply mechanism, and the box loading mechanism. The number of box loading stations on the box loading controller can be adjusted according to the structure of the packaging box.

[0018] 3. In the preferred solution, the position of the guide tube is adjustable. The relative position between the inclined surface stopper and the guide seat is adjusted through an adjusting bolt. Thus, after the inclined surface baffle extends into the notch of the guide tube, the inclined surface stopper can effectively control the strawberry feeding. For strawberries of various sizes, the inclined surface stopper can be adjusted according to the position to adapt to the control of the feeding of strawberries of various sizes. The cartoning controller contacts the roller bearing through a cam. At the same time, the strip-shaped hole at one end of the sliding seat rocker drives the movable pin to move, thereby realizing a primary translational sliding of the control sliding seat. While pulling the sliding seat rocker, the strawberry fruits in the guide tube are introduced into the packaging box. The return spring pushes the control sliding seat to reset in the reverse direction. The above structure can effectively ensure the control smoothness and transmission fluency between the control cam and the rocker mechanism.

[0019] 4. In the preferred solution, the outbox also plays a very crucial coordinating role in the whole device. The opening of the positioning frame is docked with the output end of the conveying mechanism. When the packaging box is pushed into the positioning frame of the lifting mechanism, since the push plate is made of soft rubber material, it can be reversely compressed by the packaging box after being pushed into the lifting mechanism and reset by its own elasticity after turning over the lifting mechanism, ensuring the continuous and reliable operation of the pushing movement. After each packaging box is pushed into the positioning frame, the lifting placement table descends by the height of one packaging box. The lifting mechanism can ensure the neatness and stability of the stacked packaging boxes, making preparations for the subsequent transfer of the packaging boxes. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 is a perspective view of the cartoning device of the present invention;

[0022] Figure 2 is a front view of the cartoning device of the present invention;

[0023] Figure 3 is a structural diagram of the cassette supply mechanism and the conveying mechanism;

[0024] Figure 4 is a perspective view of the cartoning controller from the first perspective;

[0025] Figure 5 is a perspective view of the cartoning controller from the second perspective;

[0026] Figure 6 is Figure 5 a structural diagram of the guide seat in

[0027] Figure 7 The structure diagram of the control slide in Figure 5 ;

[0028] Figure 8 The structure diagram of the slide rocker in Figure 5 ;

[0029] Figure 9 The top view of the cartoning controller;

[0030] Figure 10 The three-dimensional view of the lifting mechanism

[0031] Figure 11 The working effect diagram of the lifting mechanism and the fixed collection table;

[0032] Figure 12 The structure diagram of the lifting placement table in Figure 10 ;

[0033] Markings in the figure: 1. Carton feeding mechanism, 11. Column, 12. Connecting buckle, 2. Cartoning controller, 21. Strawberry collection table, 22. Strawberry receiving hole, 23. Guide seat, 231. Guide tube, 232. Fixed arm, 24. Control slide, 241. Slide end plate, 242. Inclined surface stop block, 243. Slide shaft, 244. Return spring, 245. Movable pin, 25. Rocker mechanism, 251. Rocker shaft, 252. Roller rocker, 253. Slide rocker, 254. Roller bearing, 26. Cam mechanism, 261. Cam seat, 262. Control cam, 263. Cam motor, 264. Coupling, 265. Cam shaft, 27. Base frame, 271. Cam mounting seat, 272. Rocker mounting seat, 273. Guide mounting seat, 274. Guide seat fixing plate, 275. Adjusting bolt, 276. Slide mounting plate, 3. Conveying mechanism, 31. Driving pulley, 32. Driven pulley, 33. Conveyor belt, 34. Pusher plate, 35. Guide plate, 36. Conveying motor, 4. Lifting mechanism, 41. Bottom plate, 42. Positioning flat belt, 43. Positioning frame, 44. Lifting motor, 45. Lifting lead screw, 46. Guide optical axis, 47. Lifting placement table, 471. Moving insert, 472. Cross bar, 473. Guide sleeve, 474. Lifting nut, 48. Fixed connecting plate, 5. Brush mechanism, 51. Brush bracket, 52. Correction brush, 6. Fixed collection table, 61. Fixed table, 62. Fixed insert, 10. Packaging box. Specific implementation method

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0035] Next, a detailed description will be given of the preferred embodiments of the present invention.

[0036] As Figure 1 、 Figure 2 、 Figure 3 In the illustrated embodiments, the cartoning device includes a carton supply mechanism 1, a cartoning controller 2, a conveying mechanism 3, and a lifting mechanism 4. The carton supply mechanism 1, the cartoning controller 2, and the lifting mechanism 4 are sequentially arranged along the conveying direction of the conveying mechanism 3. The carton supply mechanism 1 is used to store the packaging boxes 10 and supply the packaging boxes 10 to the conveying mechanism 3; the conveying mechanism 3 first sends the packaging boxes 10 to the cartoning controller 2 for strawberry cartoning, and then sends them to the lifting mechanism 4; the cartoning controller 2 is arranged above the conveying mechanism 3, and there are 3 cartoning stations arranged thereon, which can simultaneously make 3 strawberries fall into the packaging box 10; the lifting mechanism 4 temporarily stores the packaging boxes 10 filled with strawberries. The number of cartoning stations on the cartoning controller 2 can be adjusted according to the structure of the packaging box 10. In this embodiment, there are 3 rows × 5 columns, a total of 15 grooves are provided in the packaging box 10, which can accommodate 15 strawberries.

[0037] In this embodiment, the carton supply mechanism 1 is arranged at the input end of the conveying mechanism 3; the carton supply mechanism 1 includes a packaging box accommodation bin surrounded by four columns 11. The lower ends of the columns 11 are fixed to the guiding side plates of the conveying mechanism 3 through connecting buckles 12, and a channel gap for pushing out the packaging box 10 is formed between the lower ends of the columns 11 and the conveying mechanism 3. The cross-section of the column 11 is L-shaped, so that the four columns 11 enclose a cuboid packaging box accommodation bin for stacking and storing the packaging boxes 10.

[0038] In this solution, the conveying mechanism 3 is used for pushing the packaging box 10, and includes a driving pulley 31, a driven pulley 32, a conveyor belt 33, a guiding plate 35, and a conveying motor 36. The driving pulley 31 and the driven pulley 32 are respectively arranged at both ends of the conveyor belt 33 for supporting and driving the rotation of the conveyor belt 33. A plurality of push plates 34 are arranged along the length direction of the outer surface of the conveyor belt 33 for pushing out the packaging box 10 at the bottom of the carton supply mechanism 1 and moving along the moving direction of the conveyor belt 33 on the guiding plate 35. The conveying motor 36 is used to drive the driving pulley 31 to rotate.

[0039] Furthermore, guide plates 35 are fixedly arranged on both sides of the conveying mechanism 3 to ensure that the packaging box 10 does not deviate during transportation on the conveyor belt 10. The cross-section of the guide plate 35 is L-shaped, including an integrally connected fixed side plate and a guiding side plate. The fixed side plate is horizontally arranged and is installed on the side frames of both sides of the conveying mechanism 3 through fasteners, and is used to support the sliding transportation of the packaging box 10 on the upper end surface of the fixed side plate. The guiding side plates are vertically arranged upward on both sides of the conveyor belt 33 to define the running direction of the packaging box 10.

[0040] Specifically, the conveying mechanism 3 completes the pushing of the packaging box 10. When the conveying motor 36 is started, the driving pulley 31 rotates, driving the conveyor belt 33 to move. A push plate 34 is vertically arranged on the surface of the conveyor belt 33, and the packaging box 10 at the bottom of the box supply mechanism 1 is pushed to slide along the moving direction of the conveyor belt 33. The packaging box 10 is supported by two left and right fixed side plates, and the conveyor belt 33 is slightly lower than the inner horizontal plane of the fixed side plates to avoid contacting the packaging box 10. After the bottommost packaging box 10 is completely pushed out by the push plate 34, the upper packaging box 10 tightly connected to it drops and waits for the next push.

[0041] As Figure 3 、 Figure 4 、 Figure 5 、 Figure 9 shown, the box loading controller 2 is fixed on the guiding side plates on both sides through the auxiliary support plate 28. The box loading controller 2 is used to receive the strawberries picked by the picking hand and guide the strawberries into the packaging box 10 below its strawberry outlet. At this time, the packaging box 10 is advanced to the position of the box loading controller 2.

[0042] The box loading controller 2 includes a base frame 27, a strawberry collection table 21, a guiding seat 23, a control sliding seat 24, a rocker mechanism 25 for driving the horizontal movement of the control sliding seat 24, and a cam mechanism 26 for driving the swinging of the rocker mechanism 25; a number of sequentially arranged strawberry receiving holes 22 are formed on the strawberry collection table 21, and the strawberry collection holes 22 are used to receive the strawberries picked by the picking hand. The number of guiding seats 23 is the same as the number of grooves in each row of the packaging box 10. In this embodiment, the packaging box 10 adopts a specification of 3 rows × 5 columns of grooves, so three guiding seats 23 are provided. The three guiding seats 23 are arranged horizontally along the conveyor belt 33. The guiding seat 23 includes a guiding tube 231 and a fixed arm 232. The fixed arm 232 is arranged on the outer side wall of the guiding tube 231. The guiding tube 231 is made of a hollow cylindrical pipe, and the guiding tube 231 is arranged at a certain inclination angle and is connected to the strawberry receiving holes 22. A strawberry storage cavity is formed in the upper section of the guiding tube 231, and a semi-circular strawberry outlet with a notch on one side is formed on the side wall of the lower section of the guiding tube 231.

[0043] In this embodiment, the fixed arm 232 is installed in the through hole of the guide seat fixing plate 274 by means of the adjusting bolt 275. The position of the guide tube 231 can be adjusted by means of the adjusting bolt 275 (that is, the length of the control slide 24 extending into the guide tube 231 at the berry outlet can be adjusted) to adapt to the delivery of strawberries of different sizes. For example, when the guide tube 231 is adjusted toward the side of the control slide 24, the length of the control slide 24 extending into the notch will be longer, which is suitable for controlling smaller strawberries. When the guide tube 231 is adjusted away from the control slide 24, the length of the control slide 24 extending into the notch will be shorter, which is suitable for controlling larger strawberries. Therefore, adaptive adjustment can be performed according to the size changes caused by different strawberry varieties and harvest periods to enhance the adaptability of the device. The guide tube 231 adopts a special design structure and is made of a cylindrical pipe. The upper end of the guide tube 231 is aligned with the lower end of the strawberry collecting platform 21, and the side wall of one side of the lower end of the guide tube 231 is cut off to form a semicircular notch structure. The control slide 24 extends into the notch to control the packing of strawberries.

[0044] In this scheme, the control slide 24 includes a slide end plate 241, a bevel stopper 242 and a slide shaft 243. The bevel stopper 242 is arranged on one side end surface of the slide end plate 241 and is arranged one-to-one with the guide tube 231. The slide shaft 243 is arranged on the other side end surface of the slide end plate 241. The bevel stopper 242 can move horizontally to open / close the berry outlet under the drive of the rocker mechanism 25; the control slide 24 is installed in the guide hole of the guide mounting seat 273, and the two ends of the slide shaft 243 are flat, which cooperate with the guide hole to realize the linear movement of the control slide 24. One end of the control slide 24 is provided with a groove and a connecting hole for installing and connecting the rocker mechanism 25, and the other end is provided with a slide end plate 241 and a bevel stopper 242. A return spring 244 is arranged between the slide end plate 241 and the guide mounting seat 273, and the return spring 244 is passed through the slide shaft 243. The upper end of the guide tube 231 is an oblique circular hole, which is convenient for strawberries to fall into the receiving hole 22, and the lower part is a semicircular hole, so that the inclined surface stopper 242 can close the strawberry storage cavity.

[0045] In this embodiment, the strawberries are placed by the picking hand into the receiving hole 22 on the strawberry collecting platform 21. The receiving hole 22 is a funnel-shaped structure. Three receiving holes 22 are arranged on the strawberry collecting platform 21. The picking hand puts the strawberries in one by one. After the strawberries enter the receiving hole 22, they slide into the guide tube 231 of the guide seat 23, are lifted up by the inclined stopper 242 on the control slide 24, and temporarily remain in the berry storage cavity in the upper section of the guide tube 231.

[0046] The cartoning controller 2 can adopt the following driving method: A rocker mechanism 25 and a cam mechanism 26 for driving the rocker mechanism 25 are respectively provided on the base frame 27. The rocker mechanism 25 includes a rocker shaft 251, a roller rocker 252, a slide rocker 253, and a roller bearing 254. One end of the roller rocker 252 is fixedly connected to the rocker shaft 251, and the other end is provided with a roller bearing 254. One end of the slide rocker 253 is fixedly connected to the rocker shaft 251, and the other end is connected to the slide rod 243. The roller rocker 252 and the slide column rocker 253 are arranged at an obtuse angle. The outer ring surface of the roller bearing 254 is located on the movement track of the control cam 262. The control cam 262 drives the rocker mechanism 25 to swing by contacting the roller bearing 254. The inner ring of the roller bearing 254 is connected to one end of the roller rocker 252 by bolts, and the other end of the roller rocker 252 is tightly connected to the rocker shaft 251. The slide rocker 253 is also tightly connected to the rocker shaft 251. A strip-shaped chute hole is provided at the other end of the slide rocker 253. The end of the slide shaft 243 is provided with a shaft fork structure and is installed at the chute hole through a movable pin 245. The shaft fork structure is clamped on both sides of the slide rocker 253. The movable pin 245 penetrated through the shaft fork structure is arranged in the chute hole, and the movable pin 245 can be adjusted movably in the chute hole. The cam mechanism 26 includes a cam seat 261, a control cam 262, and a cam motor 263. The control cam 262 is installed on the cam seat 261 through a cam shaft 265. The cam motor 263 is connected to one end of the cam shaft 265 through a coupling 264 to drive the control cam 262 to rotate; both the cam shaft 265 and the rocker shaft 251 are installed on the base through bearing seats. When the cam motor 263 is started, the cam shaft 265 is rotated by a certain angle through the coupling 264. The control cam 262 is installed on the cam shaft 265, and the control cam 262 contacts the outer ring of the roller bearing 254.

[0047] When the control cam 262 drives the roller rocker 252 to swing downward, the control cam 262 and the roller bearing 254 are in rolling contact. When the control cam 262 contacts the outer ring of the roller bearing 254, the outer ring of the roller bearing 254 and the control cam 262 are in rolling friction, so as to transmit the driving force of the cam motor 263 to the rocker mechanism 25. When the control cam 262 rotates one circle, the control cam 262 contacts the roller bearing 254 once, so as to realize one swing of the roller rocker 252. The rocker shaft 251 rotates counterclockwise, and the slide rocker 253 on the rocker shaft 251 swings counterclockwise, driving the control slide 24 to move leftward. The return spring 244 is compressed, the inclined surface stop block 242 moves leftward to open, and the strawberry slides into the packaging box 10 through the guide tube 23; when the control cam 262 returns, the control slide 24 is reset under the elastic force of the return spring 244, the inclined surface stop block 242 moves rightward to close the notch at the lower strawberry outlet of the guide tube 23, and the return spring 244 is also the closing spring of the control cam 262 at the same time.

[0048] Specifically, the base frame 27 includes an integrally provided cam mounting seat 271, a rocker mounting seat 272, and a guide mounting seat 273. The two sides of the rocker mounting seat 272 are respectively connected to the cam mounting seat 271 and the guide mounting seat 273. The rocker mounting seat 272 is horizontally arranged and used for mounting the rocker mechanism 25; the cam mounting seat 271 is vertically arranged on one side of the rocker mounting seat 272 and used for mounting the cam mechanism 26; the guide mounting seat 273 is used for mounting the control slide. Its main body is in a C-shaped structure. A guide tube fixing plate 274 is provided on the opening side of its C-shaped structure. A plurality of mounting openings are formed in the guide tube fixing plate 274 along the width direction of the conveyor belt 33. The fixing arm 232 on the outer side of the guide tube 231 is fixed in the mounting opening through an adjusting bolt 275. The position of the guide tube can be adjusted through the adjusting bolt 275. A slide mounting plate 276 for mounting the control slide 24 is provided on the guide mounting seat 273. The slide mounting plate 276 is vertically arranged and located inside the guide tube 23. A slide hole is formed in the slide mounting plate 276. The slide seat shaft 243 passes through the slide hole from one side of the slide mounting plate 276 and is connected to the slide seat rocker 253 on the other side.

[0049] In order to further improve the box loading effect and at the same time improve the automatic correction ability of the device, a brush mechanism 5 is provided on one side of the outlet of the box loading controller 2. Considering the position of strawberry introduction, there will be individual strawberry fruits that do not completely fall into the grooves of the packaging box 10. Therefore, a correction brush 52 for correcting the position of strawberries is provided. When the packaging box 10 passes by, the upper correction brush 52 will gently sweep the strawberries to sweep the strawberries that have fallen outside the grooves of the packaging box 10 into the grooves. The brush mechanism 5 includes a brush support 51 and a correction brush 52. The two sides of the brush support 51 are fixed on the guide plate 35. The correction brush 52 is fixedly arranged on the cross beam of the brush support 51. The correction brush 52 is used to sweep the strawberries that have fallen outside the grooves of the packaging box 10 into the grooves.

[0050] As described above, when the packaging box 10 is pushed to the corresponding position at the bottom of the box loading controller 2, the conveyor motor 36 stops and waits for the strawberries to fall. After the strawberries fall, the conveyor motor 36 starts with a certain step distance to the second column position and waits for the strawberries to fall. This is repeated until the fifth column position. When the strawberries at the fifth column position fall, the conveyor motor 36 starts to push the packaging box 10 to the lifting mechanism 4. During this process, it passes through the correction brush 52 fixed on the brush support 51. The correction brush 52 gently sweeps over the strawberries, and the strawberries that have not fallen into the grooves of the packaging box 10 can be swept into the grooves. The push plate 34 is made of soft rubber material. After the packaging box 10 enters the lifting mechanism 4, it can be reversely compressed by the packaging box 10 and reset by its own elasticity after turning through the lifting mechanism 4, ensuring the continuous and reliable operation of the pushing movement.

[0051] In this embodiment, as Figure 10As shown in the figure, the lifting mechanism 4 includes a bottom plate 41, a positioning flat belt 42, a positioning frame 43, a lifting motor 44, a lifting lead screw 45, a guiding optical axis 46, and a lifting placement table 47. The positioning frame 43 is located directly above the bottom plate 41. An opening for docking with the conveyor belt 33 is formed on one side of the positioning frame 43 close to the conveyor belt 33. Both ends of the positioning flat belt 42 are respectively connected to the positioning frame 43 and the bottom plate 41. Four positioning flat belts 42 are symmetrically arranged on both sides of the lifting placement table 47, with two on each side to ensure the stability when the packaging boxes 10 are stacked. The positioning flat belt 42 is respectively connected to the hooks on the positioning frame 43 and the upper and lower hooks on the bottom plate 41 through the flat belt holes provided thereon. The lifting motor 44 is arranged at the top of the lifting lead screw 45. The lifting lead screw 45 and the guiding optical axis 46 are respectively located on both sides of the opening of the positioning frame 43, and the upper and lower ends are respectively fixedly connected through a fixed connecting plate 48. The lifting placement table 47 is located between the positioning flat belts 42, and a lifting nut 473 cooperating with the lifting lead screw 45 and a guiding sleeve 474 cooperating with the guiding optical axis 46 are respectively arranged on the lifting placement table 47.

[0052] In this solution, a picking machine is further provided, which includes the main body of the picking machine and the above-mentioned box loading device. In this solution, the above-mentioned box loading device is arranged on the picking machine and becomes a part of the picking machine itself. The box loading device is installed on the frame of the picking machine through connecting and fixing parts. The conveying direction of the conveying mechanism 3 is kept consistent with the running direction of the body of the picking machine. For example, the box loading device is arranged at the front end or the rear end of the picking machine, so that the lifting mechanism 4 is located at a position close to the outside and docks with the fixed collection table 6. When the packaging boxes 10 in the lifting mechanism 4 are full, through the coordinated operation of the picking machine body and the box loading device, the automatic unloading operation of the packaging boxes 10 can be realized.

[0053] The process of the packaging box leaving the box is as follows: After the packaging box 10 reaches the lifting mechanism 4, it is positioned by the positioning frame 43 and lifted by the lifting placement table 47. The positioning frame 43 is installed on the frame wallboard (not shown in the figure), and a position switch (not shown in the figure) is provided thereon. When the packaging box 10 reaches the specified position, the position switch is triggered, the lifting motor 44 rotates a certain step distance, and the lifting lead screw 45 rotates to drive the lifting placement table 47 to move down by the height of one packaging box 10 and wait for the next packaging box 10 to be stacked and enter. The lifting placement table 47 is respectively connected to the lifting lead screw 45 and the guiding optical axis 46 and can move up and down.

[0054] For the convenience of unloading, as Figure 12 shown, the main body of the lifting placement table 47 includes a cross bar 472 and a movable insert 471. The lifting nut 473 and the guiding sleeve 474 are respectively located on both sides of the cross bar 472. A plurality of movable inserts 471 are provided and evenly arranged on one side of the cross bar 472 to form a bearing platform, and a gap is formed between adjacent two movable inserts 471.

[0055] The unloading method of the packaging box is as follows: AsFigure 11 As shown in the figure, the fixed collection table 6 includes a fixed table 61 and multiple fixed insertion strips 62 arranged on one side of the fixed table 61. A gap for accommodating the movable insertion strip 471 is formed between two adjacent fixed insertion strips 62. After the stacking of the packaging boxes 10 in the lifting mechanism 4 reaches a predetermined quantity, the strawberry picking machine can automatically unload the packaging boxes 10. The picking machine moves to the unloading station. When the lifting placement table 47 descends to the same height as the fixed collection table 6, the movable insertion strip 471 on the placement table 47 intersects with the fixed insertion strips 62 on the fixed collection table 6 in a staggered manner. At this time, the lifting placement table 47 continues to descend a certain distance, so that the packaging boxes 10 fall onto the fixed collection table. Then the picking machine withdraws to one side, and the lifting placement table 47 rises to the initial position, automatically realizing the transfer and shipment of the strawberry packaging boxes. In this embodiment, the picking machine realizes the application of the picking method of picking while loading the boxes. While improving the utilization efficiency of the picking machine, it solves the problem of the collection and accumulation of strawberries during the picking process, and improves the previous picking method and operation habit that strawberries need to be collected by the picking machine before being loaded into the boxes, greatly improving the work efficiency, reducing the turnover times, and reducing the losses caused by strawberries during multiple turnovers.

[0056] The above is only a preferred embodiment of the present invention, and it does not impose any form of limitation on the present invention. Although the present invention has been disclosed above with a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments by using the above-disclosed technical content within the scope of the technical solution of the present invention. However, as long as it does not depart from the content of the technical solution of the present invention, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.​

Claims

1. A box loading device applicable to a strawberry picking machine, characterized in that: It includes a box supply mechanism, a box loading controller, a conveying mechanism and a lifting mechanism, wherein the box supply mechanism, the box loading controller and the lifting mechanism are sequentially arranged along the conveying direction of the conveying mechanism, wherein the box supply mechanism and the box loading controller are arranged above the conveying mechanism; The box supply mechanism is arranged at the input end of the conveying mechanism, and is used to store the packaging boxes and supply the packaging boxes to the conveying mechanism. The box supply mechanism includes a packaging box storage bin surrounded by four columns, and the lower parts of the columns are fixed to the two sides of the conveying mechanism by connecting buckles, and a channel gap is formed between the columns and the conveying mechanism for the packaging boxes to be pushed out; The conveying mechanism is used for pushing the packaging box, and includes a conveyor belt. A plurality of push plates are arranged around the length direction of the outer surface of the conveyor belt, and are used to push the packaging box at the bottom of the box supply mechanism from the gap of the channel and push the packaging box along the moving direction of the conveyor belt; The box loading controller is used to receive the strawberries picked by the picking hands and guide the strawberries into the packaging box below the strawberry outlet; The lifting mechanism is arranged at the lower outer side of the output end of the conveying mechanism and is used for temporary storage and transfer of the packaging boxes after loading is completed; The box loading controller comprises a strawberry collecting platform, on which a plurality of strawberry receiving holes arranged in sequence are formed, and the strawberry collecting holes are in a funnel-shaped structure for receiving and placing the strawberries picked by the picking hand; The cartoning controller also includes a guide seat and a control slide seat; The guide seat is docked and arranged below the strawberry collecting platform, the number of the guide seats is consistent with the number of grooves in each row of the packaging box, the guide seats are arranged transversely along the conveyor belt, the guide seat includes a guide tube and a fixed arm, the fixed arm is arranged on the outer side wall of the guide tube, the guide tube is made of a hollow cylindrical pipe, which is connected with the strawberry receiving hole, the upper section of the guide tube is formed with a strawberry storage cavity, and the side wall of the lower section of the guide tube is formed with a semicircular strawberry outlet with a notch on one side; The control slide comprises a slide end plate, an inclined surface stopper, a slide shaft and a return spring. A groove and a connecting hole are provided at one end of the control slide for installing and connecting a rocker mechanism, and a slide end plate and an inclined surface stopper are provided at the other end. The inclined surface stopper is provided on one end surface of the slide end plate and corresponds to the outlet of the guide tube. The slide shaft is provided on the other end surface of the slide end plate. A return spring is provided between the slide end plate and the guide mounting seat, and the return spring is passed through the slide shaft. Driven by the rocker mechanism, the inclined stopper moves horizontally to open / close the berry outlet; A brush mechanism is provided on the outlet side of the box loading controller, and the brush mechanism includes a brush holder and a correction brush. Both sides of the brush holder are fixed on the guide plate, and the correction brush is fixed on the crossbeam of the brush holder. The correction brush is used to sweep the strawberries that fall outside the groove of the packaging box into the groove.

2. The loading box device applicable to a strawberry picking machine according to claim 1, characterized in that: The cartoning controller further includes a rocker mechanism for driving and controlling the horizontal reciprocating movement of the slide and a cam mechanism for driving the swing of the rocker mechanism; the rocker mechanism includes a rocker shaft, a roller rocker, a slide rocker, and a roller bearing. One end of the roller rocker is fixedly connected to the rocker shaft, and the other end is fixedly connected to the inner ring of the roller bearing. One end of the slide rocker is fixedly connected to the rocker shaft, and the other end is connected to the slide shaft. The roller rocker and the slide rocker are arranged at a certain angle. The outer ring of the roller bearing is located on the movement track of the control cam of the cam mechanism. The control cam drives the rocker mechanism to swing around the rocker shaft by contacting the outer ring of the roller bearing, so as to realize the control of the horizontal reciprocating movement of the slide.

3. The cartoning device for a strawberry picker according to claim 2, characterized in that: The cartoning controller includes a base frame, and the base frame includes an integrally provided cam mounting seat, a rocker mounting seat, and a guide mounting seat. The two sides of the rocker mounting seat are respectively connected to the cam mounting seat and the guide mounting seat. The rocker mounting seat is horizontally arranged for mounting the rocker mechanism; the cam mounting seat is vertically arranged on one side of the rocker mounting seat for mounting the cam mechanism; the guide mounting seat is used for mounting the control slide. A guide seat fixing plate is provided on the opening side of the guide mounting seat. A plurality of mounting openings are formed in the guide seat fixing plate along the width direction of the conveyor belt. A fixing arm is provided on the outer side of the guide tube, and the fixing arm is installed in the mounting opening through an adjusting bolt. The relative position of the guide seat and the inclined baffle can be adjusted through the adjusting bolt.

4. The cartoning device applicable to a strawberry picker according to claim 3, wherein: A slide mounting plate for mounting the control slide is provided on the guide mounting seat. The slide mounting plate is vertically arranged and located inside the guide tube. A slide hole is formed in the slide mounting plate. The slide shaft passes through the slide hole from one side of the slide mounting plate and is connected to the slide rocker on the other side.

5. The cartoning device applicable to a strawberry picker according to claim 1, wherein: Guide plates are fixedly provided on both sides of the conveying mechanism to ensure that the packaging box will not deviate when being transported on the conveyor belt. The guide plate includes a fixed side plate and a guide side plate. The fixed side plate is horizontally arranged and installed on the two side frames of the conveyor belt through fasteners. The guide side plates are vertically upwardly arranged on both sides of the conveyor belt. The upper end surface of the fixed side plate contacts the bottom of the packaging box. Under the push of the push plate, the packaging box is sequentially moved in the conveying direction of the conveyor belt on the fixed side plate.

6. The cartoning device applicable to a strawberry picking machine according to claim 1, wherein: The lifting mechanism includes a bottom plate, a positioning flat belt, and a positioning frame. The positioning frame is located directly above the bottom plate. The frame of the positioning frame is adapted to the outer shape of the packaging box. A frame opening connected to the conveyor belt is formed on one side of the positioning frame close to the conveyor belt. A plurality of positioning flat belts are provided, and both ends of the positioning flat belt are respectively connected to the positioning frame and the bottom plate to ensure the stability when the packaging boxes are stacked.

7. The box loading device for strawberry picker according to claim 6, characterized in that: The lifting mechanism further includes a lifting motor, a lifting lead screw, a guiding optical axis, and a lifting placement table. The lifting motor is arranged at the top of the lifting lead screw. The lifting lead screw and the guiding optical axis are respectively located on both sides of the frame opening of the positioning frame, and the upper and lower ends are respectively connected through a fixed connecting plate. The lifting placement table is located between the positioning flat belts. Lifting nuts cooperating with the lifting lead screw and guiding sleeves cooperating with the guiding optical axis are respectively provided on both sides of the lifting placement table. By driving the lifting lead screw to rotate through the lifting motor, the lifting lead screw drives the lifting placement table to perform lifting adjustment.

8. A picking machine, characterized in that: Comprising the cartoning device according to any one of claims 1-7, wherein the cartoning device is installed on the frame body of the picking machine.

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